To facilitate manual transport in intra-logistics, an Automated Guided Vehicle (AGV) with a contact-free control has been developed. The vehicle is controlled by recognition of gestures and persons based on 3D data of the environment. The paper de-scribes both objectives, modes and applications as well as the concept of contactless control and the technical implementation of the platform. Initial experiments confirm that a robot can be controlled based on 3D data. Possibilities of improvement in robustness are described.